The vision-based target recognition and tracking have received much attention in the field of robotics. Existing methods mainly focus on the vision perception of individual robot with a single view, however, the perfo...
The vision-based target recognition and tracking have received much attention in the field of robotics. Existing methods mainly focus on the vision perception of individual robot with a single view, however, the performance is susceptible to illumination and occlusion. Multi-robot collaborative perception provides a potential solution to deal with the limitation of single-view observation, however, the challenging of environmental adaptability for multi-robot collaborative decision still remains unsolved. To solve this problem, this paper proposes a two-level adaptive target recognition and tracking method based on vision for multi-robot system. The problem of multi-robot target recognition and tracking is solved under a two-level framework, which contains the features fusion level of individual robot and the cooperation level of multi-robot system. In the first level, the features measuring results that influence the visual perception of individual robot are fused, while the second level combines the voting of each robot together to determine the target for multi-robot system. Both the features measuring weights and robots voting weights are adaptively updated according to their evaluation, which lead to a beneficial result where the features and robots with higher accuracy play major roles in the first and second levels, respectively. Therefore, a good adaptability to the environments can be guaranteed. The experimental results show that the proposed approach can realize the coordination of multi-robot system in target recognition and tracking with an effective performance.
This paper studies synchronization tracking problems of heterogeneous robotic systems in the presence of kinematic uncertainties, dynamic uncertainties and communication delays. To solve the above problems, this paper...
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Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR co...
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The traditional wired seismograph has disadvantages such as cumbersome cable, complicated wiring, crosstalk and noise between adjacent transmission lines. In addition, the dynamic range of the instrument is small, and...
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The traditional wired seismograph has disadvantages such as cumbersome cable, complicated wiring, crosstalk and noise between adjacent transmission lines. In addition, the dynamic range of the instrument is small, and the observation of seismic signals is not intuitive, which can not meet the needs of high-precision seismic exploration. In order to solve these problems, the design of distributed three component seismic data acquisition system based on LoRa wireless communication technology is proposed. The system uses LoRa long-distance wireless communication technology and 24 bit Σ-Δ ADC, which realizes long-distance wireless communication and large dynamic range seismic data acquisition. Besides, the system has man-machine interaction interface, which can observe the parameters of seismic waveform in real time and adjust sampling rate directly. The whole circuit has the advantages of simple design, high precision and good stability. To sum up, the design has certain practical value and application prospect.
With the rapid development of social media, fast transition of organizational management modes, as well as the increasing security risks caused by human intervention and operations, the existing organizational managem...
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An improved equivalent-input-disturbance(EID) approach is presented in this paper to promote the transient performance of disturbance rejection in the control system. A high-gain observer(HGO) is introduced to the con...
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An improved equivalent-input-disturbance(EID) approach is presented in this paper to promote the transient performance of disturbance rejection in the control system. A high-gain observer(HGO) is introduced to the conventional EID method to accelerate the convergence of state error. This makes the estimated disturbance tracking the exogenous disturbance more quickly and more precisely. First, the configuration of an improved EID-based control system is described. Then, a sufficient stability condition is derived in terms of a linear matrix inequality(LMI). The resulting LMI is used to find the gains of state observer and state feedback controller. Finally, the validity of the devised method and its superiority over a conventional EID method is demonstrated through the simulation of a numerical example.
This paper investigates the problem of Synchronous control of Fractional gene regulatory *** on the Lyapunov stability judgment method,we apply two kinds of control method,adaptive projection control and adaptive slid...
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ISBN:
(纸本)9781538629185
This paper investigates the problem of Synchronous control of Fractional gene regulatory *** on the Lyapunov stability judgment method,we apply two kinds of control method,adaptive projection control and adaptive sliding mode control,for making system ***,a numerical simulation example is provided to verify the effectiveness and the benefit of the proposed synchronicity criterion.
In this article, a method to design the filter for fuzzy jumping genetic regulatory networks is explored. The case when the filters cannot directly utilize the mode information of the plant is taken into account. A hi...
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In this article, a method to design the filter for fuzzy jumping genetic regulatory networks is explored. The case when the filters cannot directly utilize the mode information of the plant is taken into account. A hidden Markov model is introduced to address such a problem. Furthermore, a mature scheduling method, namely round-robin protocol, is employed to optimize the data transmission in genetic regulatory networks. On the basis of the fuzzy model approach and the stochastic analysis technique, some novel conditions ensuring the H ∞ performance and stochastic stability of the error system are established. The parameters of the filter can be presented via addressing the convex optimization problem. The feasibility of results is finally illustrated by considering a repressilator model subject to stochastic jumping parameters.
Aeromagnetic survey is widely used in geophysical exploration because of large exploration range and little limitations on geographical environment. Aiming at the problem using manned aircraft in aeromagnetic survey, ...
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Aeromagnetic survey is widely used in geophysical exploration because of large exploration range and little limitations on geographical environment. Aiming at the problem using manned aircraft in aeromagnetic survey, an aeromagnetic system of rotor unmanned aerial vehicle(UAV) based on Overhauser sensor is established. It can carry out high-precision geomagnetic measurement with small magnetic interference and omidirection. Firstly, the magnetic interference of rotor UAV is analyzed and the mathematical model is established for software compensation. Next, aeromagnetic magnetometer based on Overhauser sensor is developed. Finally, the least squares is used to estimate the coefficients. The necessity and superiority of allowing for the eddy-current magnetic field is verified by comparing the fitting results. Moreover, the flight test was carried out and the results showed that the improvement ratio was 6.86. The compensation effect of magnetic interference is verified and magnetic anomaly signal is extracted successfully.
The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a clo...
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The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.
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